CN110969870B

CN110969870B - AGV control system with multiple host frameworks and implementation method thereof

Info

Publication number: CN110969870B
Application number: CN201911211961.6A
Authority: CN
Inventors: 李广云; 刘有涛
Original assignee: Tianjin Abeimo Robot Technology Co ltd
Current assignee: Tianjin Abeimo Robot Technology Co ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2023-05-12
Anticipated expiration: 2039-12-02
Also published as: CN110969870A

Abstract

The invention relates to an AGV control system with multiple host frameworks and an implementation method thereof, which are technically characterized in that: the system comprises one or more district traffic control hosts arranged for different traffic control areas, one or more task allocation hosts arranged for different task work areas and district display devices; the system comprises a district traffic control host, a management center and a management center, wherein the district traffic control host is used for traffic control of an AGV (automatic guided vehicle) executing a work task in a district traffic control area; the task allocation host receives the task information and is responsible for allocating tasks to the managed AGVs. According to the invention, nonstandard system engineering is converted into standard system functional modules, and the stability, applicability and universality of the system are improved through the repeated use of the universal functional modules, so that the market requirement is met, and the conversion from project to product of the AGV system is realized.

Description

AGV control system with multiple host frameworks and implementation method thereof

Technical Field

The invention belongs to the technical field of unmanned vehicles, and particularly relates to an AGV control system with multiple host frameworks and an implementation method thereof.

Background

With the development of the age and the progress of technology, AGVs are increasingly used. At present, an upper control system in an AGV system in the market belongs to a non-calibration system, is independently developed aiming at different users, and adopts a single host to carry out communication management and data interaction on a network topology structure of multiple vehicles, so that the problems of high development cost, long investment time, poor stability and the like exist.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an AGV control system with a plurality of host frameworks, which is reasonable in design, stable in performance and strong in universality, and an implementation method thereof.

The invention solves the technical problems by adopting the following technical scheme:

an AGV control system with a multi-host framework comprises one or more district traffic control hosts arranged for different traffic control areas, one or more task allocation hosts arranged for different task work areas and a district display device;

the district traffic control host is used for controlling traffic of AGVs executing work tasks in district traffic control areas;

and the task distribution host receives the task information and is responsible for distributing tasks to the managed AGVs.

Further, the system also comprises a district display device which is connected with the district traffic control host and used for displaying the AGV working information and the AGV real-time position in the district.

Further, the system includes a call processing host coupled to each caller at the task call point for receiving the caller's call tasks and transmitting to the task allocation host.

Further, the call processing host comprises a material calling process, a feeding calling process and other task calling processes; the caller comprises a switch button, a PDA, a sensor, a code scanning gun, an external logic processor and a plurality of callers of digital data interaction equipment.

Further, the task allocation host comprises a task library module and a task triggering condition module, wherein the task library module is used for configuring and storing a plurality of working paths executed by the AGV in a manual input mode and numbering different paths; the task triggering condition module is used for receiving task instructions of the call processing host or the external production management system, and forming task queuing information to be executed through logic analysis of instruction information and setting of call information priority.

A realization method of an AGV control system with a plurality of host frameworks comprises the following steps:

step 1, numbering each type of AGVs working in the whole area of the AGV;

step 2, arranging an AGV working path and working stations in the whole area of the AGV;

step 3, setting traffic control zone numbers for the intersection points and the parallel line points of the working paths in the whole working area of the AGV, and dividing one or more district traffic control areas in the whole working area of the AGV according to the numbers;

step 4, installing a district traffic control host in each district traffic control area, wherein the district traffic control host executes district traffic control tasks;

and 5, dividing the working path in the whole area of the AGV into one or more task working areas, and installing a task allocation host in each task working area, wherein the task allocation host executes task allocation tasks.

Further, the method also comprises the steps of setting up a call processing host in each task work area and executing the call processing task, and the specific implementation method of the step is as follows: setting one or more call processing hosts in the whole working area of the AGV, and dividing the one or more call processing hosts into one or more call groups, wherein each call processing host is connected with one or more callers; the caller and the corresponding call processing host all contain the standard module of the corresponding address code; the call processing host computer completes information interaction with the task allocation host computer through a protocol.

Further, the method also comprises the step of installing a district display host in each district traffic control area, wherein the district display host executes the district AGV information display task.

Further, the specific implementation method of the step 4 is as follows: one or more task allocation hosts are set up in the whole working area of the AGVs, the number of the working AGVs in the working area is designated for each task working area, and meanwhile, the working standby position of each AGV is designated.

Further, the specific implementation method of the step 5 is as follows: setting one or more district traffic control hosts in the whole working area of the AGV, and establishing traffic control order in the working area of the AGV; each district traffic control host contains a number of traffic control zone numbers, and these numbers cannot be reused in different district traffic control hosts; the district management authority of the traffic control district of the number can be changed by arranging the number of the traffic control district to be increased or decreased in the district traffic control host; the district traffic control host computer has the highest command to the AGVs working in the district and the AGVs passing through the district, all AGVs in the district unconditionally obey the command of the district traffic control host computer, and when the AGVs leave a certain district, the district traffic control host computer will terminate the management to the AGVs, and the traffic control of the district traffic control host computer will be controlled by a new district traffic control host computer.

The invention has the advantages and positive effects that:

1. the invention divides the existing nonstandard system according to the modules, sets a plurality of hosts with functional modules in the whole AGV working area, and the functional modules are responsible for district traffic control, calling and call processing, task allocation and information display.

2. According to the invention, one or more AGVs are simultaneously controlled by multiple hosts, network environments of CSMA/CA and similar network monitoring protocols are supported, the AGVs can respectively identify and process instructions issued by different hosts and coordinate the ordered execution of the instructions, meanwhile, the AGVs can respond to the instructions or perform data interaction on the specified hosts, and the AGVs can register, cancel, type identify, work domain identify, host management, interactive object control, transmit-receive mode management and other interactive identification, management and control operations on the different hosts matched with the AGVs on a self-contained system, so that the multi-area and multi-task AGV linkage control function is realized.

Drawings

FIG. 1 is a schematic illustration of the connection of an AGV control system of the multi-mainframe architecture of the present invention;

FIG. 2 is a site map of an embodiment of the present invention;

FIG. 3 is an enlarged partial schematic view of FIG. 2;

FIG. 4 is a schematic diagram of a jurisdictional task allocation principle;

FIG. 5 is a schematic diagram of a jurisdictional task allocation implementation;

FIG. 6 is a schematic diagram of a single area call module;

FIG. 7 is a schematic diagram of an overall AGV area call module;

FIG. 8 is a schematic diagram of the internal module relationship of the AGV control system.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

An AGV control system with multiple host frameworks, as shown in FIGS. 1 and 8, includes one or more jurisdictional traffic control hosts configured for different traffic control areas, one or more task allocation hosts configured for different task work areas, and a call processing host and jurisdictional display device.

The system comprises an AGV (automatic guided vehicle) working area, an jurisdictional traffic control host and an jurisdictional traffic control host, wherein the jurisdictional traffic control host is used for carrying out traffic control on an AGV (automatic guided vehicle) executing working tasks in the jurisdictional traffic control area, and one or more jurisdictional traffic control hosts are arranged in the whole working area of the AGV and used for establishing traffic control order in the working area of the AGV.

Traffic control refers to the control of AGVs in crossroads, path merge aisles, public bi-directional aisles and other controlled areas where the AGVs are controlled to prevent collisions. Traffic control areas refer to areas where AGVs are at crossroads, path merge aisles, public bi-directional aisles, and other areas where only designated AGVs are permitted to pass. Within the dashed circle of fig. 3 are various traffic control zones. By traffic control jurisdiction is meant a collection of traffic control areas. The whole AGV working area can be divided into a plurality of traffic control jurisdictions by taking the traffic control district number as a reference. The district constituted by the traffic control district numbers can be a plurality of traffic control districts in administrative areas or a plurality of traffic control districts under network coverage areas. And a plurality of district traffic control hosts can be set up in the whole AGV working area. The district traffic control host software can be installed in different hosts and controllers. In order to solve the intersection problem of jurisdictional division, so that the traffic control hosts in multiple jurisdictions can work normally, it is necessary to set the number of the jurisdictional traffic control region for each traffic control host in the jurisdiction. Each jurisdictional traffic control host contains several traffic control zone numbers and these numbers cannot be reused within different jurisdictional traffic control hosts. By arranging the number of the traffic control area in the district traffic control host, the district management authority of the traffic control area with the number can be changed.

The district traffic control host computer has the highest command to the AGVs of fixed path work in this district and the AGVs of this district of way, and all AGVs that are in this district, unconditionally obeys this module and travel and stop the command, that is to say this district traffic control host computer can carry out traffic control to the AGVs of different work tasks in this district. After the AGV leaves a certain jurisdiction, the jurisdiction traffic control host will terminate the management of the AGV, and the traffic control of the AGV will be controlled by the new jurisdiction traffic control host.

The district traffic control host can independently operate in the system, and if no task is needed for the network, the network is allowed to not cover the whole working area, so that the input cost of the system can be effectively reduced.

The district traffic control host computer only needs to configure the AGV number to be controlled, the district number of the traffic control district to be controlled or the corresponding working station constituting the district number at the relevant setting interface. And the traffic control hosts in the multiple jurisdictions jointly complete the traffic control task of the whole AGV system.

The district display device is connected with the district traffic control host computer and displays the work information of the AGVs in the district and the real-time position map of the AGVs. The working information includes site information, whether tasks exist, working speed, whether working is normal, whether faults exist, whether the connection is lost from the district, and the like. The real-time position of the AGV is the relative position of the jurisdiction in which the AGV is located. After collecting the information, the district display device can be displayed on a system screen and can report to an external interface module for external system data docking.

The task allocation host is connected with the call processing host and an external production management system (MES, ERP, SAP and the like) and is used for decomposing task information of the call processing host and the external production management system and is responsible for allocating tasks to the managed AGVs.

The task work area refers to one or more AGV work areas divided according to administrative areas, AGV work paths, task types, and the like in the whole work area of the AGV. This region may be the same as or different from the jurisdictional traffic control region. A plurality of task work areas are arranged in the whole AGV work system, a task allocation host is arranged in each work area, and one or more call processing hosts correspond to the task allocation host. The task allocation host comprises a task library module, a task trigger condition module and the like. The task library module is mainly responsible for configuring and storing a plurality of working paths executed by the AGV in a manual input mode before the system is used, and numbering different paths. The working path in the task library module can be added or subtracted according to the actual working condition in the using process of the system. The task triggering condition module receives a task instruction of the call processing host, and forms queuing information of a task to be executed through logic analysis of instruction information and setting of call information priority. And triggering preset task library module data by the task triggering condition module, wherein each piece of call task information and a task path in the task library module form a corresponding relation. The task triggering condition module is used as a core of a task distribution host, and has the function of forming a unique corresponding relation result by carrying out multi-factor logic operation and obtaining the call task information and the task path in the task library module according to the field process requirement, or forming a unique corresponding relation by manually setting the designated call task information and the task path in the task library module. And the task triggering condition module is used for triggering the task library task, and the task allocation host computer is used for calling the AGV at a proper position and executing the serial number task. The task is successfully queued, the task starts to be executed, and the task is completed to be executed, and information is sent to the related party. Related parties include, but are not limited to, calling parties, delivery parties, external systems, display modules, and the like.

The task allocation host assigns the number of the AGVs working in the area to each task working area, and the AGVs with one number only work in one task working area. If the working area of the AGV needs to be changed, the number of the AGV can be changed inside the task allocation host.

The call processing host distributes task call points in the task work area and is connected with each caller, receives the call task and transmits the call task to the task allocation host.

The call processing host includes a stock calling, a feeding calling and other call processing. The caller is classified into a stock call and a feed call. A stock calling refers to a point where a call is made, and stock needs to be sent to the calling point from a certain place, and the calling information can be a single task or a multi-task chain. Feeding calls refer to the point where a call is made, and materials need to be sent to a place from the home location, and the call information can be a single task or a multi-task chain. Call information originating from higher level systems such as MES, ERP, etc. systems is also included. One or more calling terminals are set up into one or more calling groups according to administrative areas or material requirement types, and each calling group corresponds to one calling processing host. The caller comprises all switches and data interaction devices such as buttons, sensors, PDAs, code scanning guns and the like. After receiving the call information, the call processing host classifies and sorts the call information, and performs data information interaction with the corresponding task allocation host in the system to inform the system that the task has occurred. One or more call processing hosts, corresponding to a task allocation host.

Each host in the system can be increased or decreased according to the actual field state, and can also independently operate to form a control system of the AGV in the whole area.

The invention provides an AGV control system realizing method of a multi-host framework based on the AGV control system of the multi-host framework, which comprises the following steps:

and step 1, numbering each type of AGVs working in the whole area.

In the step, various AGVs are allowed to work in the system, wherein the AGVs comprise various AGVs with the navigation modes of magnetic navigation, two-dimensional code navigation, laser navigation, satellite navigation and the like, and the AGVs comprise AGVs with the carrying modes of latent traction, knapsack, forklift, roller knapsack and the like. All AGVs have unique numbers in the system, one number representing each AGV. This number is typically set in the AGV on-board system. When the AGVs are damaged in the system, a quick method is to throw one AGV with the same type and carrying function, the number is set to be the number of the AGV which is just damaged on the vehicle-mounted system, and the damaged AGVs can be replaced by the newly added AGVs to throw work.

And 2, arranging the working path and the working station of the AGV in the whole area.

In this step, the AGV working path and site position are constructed according to the actual AGV working area and working task. If the magnetic navigation AGV exists in the system, a magnetic stripe is paved on the relevant path to form a working path of the AGV, and an RFID card is placed at the relevant position to form an AGV working station. If two-dimensional code navigation AGVs exist in the system, two-dimensional codes need to be pasted in relevant areas, a plurality of two-dimensional codes form AGV working code arrays, the series connection of the relevant code arrays forms an AGV working path, and the code arrays are working sites of the AGVs at the same time. If the system is internally provided with the laser navigation AGV, the AGV is required to pass through the scanning environment to generate a virtual navigation path, and a station is planned on the path to form an AGV working station. The AGVs of different navigation modes can work under the same system, and the AGVs of different navigation modes need to construct non-repeated AGV working site numbers. Each nominal work station is uniquely numbered throughout the AGV work area.

As shown in fig. 2 and 3, in this embodiment, the whole working area of the AGV is a factory, 4 workshops are provided in the factory, and the 4 task allocation hosts are divided according to administrative areas of the workshops, 7 working paths are established according to production conditions of the workshops, and the three workshops are divided into three jurisdiction traffic control hosts according to convenience in management of traffic control.

According to the working paths laid by the magnetic stripe for planning, 7 paths are laid in fig. 2, and are named as working

paths

1, 2, 3, 4, 5, 6, 7, respectively.

According to the working beat requirement, a certain number of AGVs are thrown into a working area to participate in the working of the whole area, each AGV is unique in number and not repeated, and the working area of each AGV is designated in a task allocation host.

Fig. 4 is a schematic diagram of a task work area, which is divided into 4 work areas according to a workshop administrative area, wherein a 1 workshop is a task work area 1, an AGV work path 1 and an AGV work path 2 are included, a 2 workshop is a task work area 2, an AGV work path 3 and an AGV work path 5 are included, a 3 workshop is a task work area 3, an AGV work path 4 and a 4 workshop are included, a 4 task work area 4 is included, an AGV work path 6 and an AGV work path 7 are included, and it is required to be explained that the work path 7 needs to execute a 4 workshop to 1 workshop material transportation task.

And 3, setting traffic control zone numbers for the intersection points and the parallel line points of the working paths in the whole working area of the AGV, and dividing one or more district traffic control areas in the whole working area of the AGV according to the numbers.

In the step, traffic control area numbers are set in the intersection area and the parallel line area of the working path in the whole area, wherein the traffic control area numbers comprise cross intersection areas, parallel line areas and the like in the running process of various AGVs, and the numbers are unique for each intersection area and parallel line area needing to be controlled. These numbers are different from the step 2 site numbers, which represent traffic control zones. When different AGVs run in the system, the station positions are reported when the station positions are reached, and the host system implements traffic control, task allocation and information display according to the position information.

In this embodiment, 19 traffic control zones are established in the overall AGV system according to the intersection zone and the parallel zone. According to the convenience of traffic control, the system is divided into three district traffic control hosts. The areas with the numbers of 1, 2, 3, 4, 5, 6 and 7 are set as a traffic control district 1, and the traffic control district comprises an AGV working path 1, an AGV working path 2 and a partial path of the AGV working path 7; setting up traffic control jurisdiction 2 with

numbers

8, 9, 10, 11, 12, 13, 14, 15, including partial paths of AGV working path 3, AGV working path 5, and AGV working path 7 and AGV working path 4; the traffic control jurisdiction 3 is set up with

numbers

16, 17, 18, 19, 20, including the AGV working path 6, and partial paths of the AGV working path 7 and the AGV working path 4. The district numbers of the traffic control areas can be arranged in a district traffic control software module to form a new district traffic control host by increasing or decreasing the traffic control areas. AGVs working on different paths only receive the control of the traffic control host in the current jurisdiction in the working process. AGVs of different numbers can work across paths, but only perform this regional task. Assume an AGV number 7 performs the task of work path 7. During the execution of the task of the working path 7, the AGV runs from left to right, and respectively goes through the

traffic control areas

20, 18, 16, 14, 12, 11, 10, 5, 4, 3, and respectively accepts traffic control by the jurisdictional traffic control host 3, the jurisdictional traffic control host 2, and the jurisdictional traffic control host 1. Upon leaving the jurisdictional traffic control zone, the jurisdictional traffic control host loses control over the AGV. FIG. 3 is a schematic illustration of a traffic control zone control mechanism. Setting up sites at the entrance and the exit of the area needing to be controlled, reporting the sites to the district traffic control host after the AGVs arrive at the sites, and making logic judgment by the district traffic control host to control the start and stop of the current AGVs. Only one AGV is allowed to pass within each traffic control zone. It should be noted that the division of the task work area may be the same as or different from the traffic control district division, and the task work area and the traffic control district division are not necessarily related.

And 4, setting up one or more call processing hosts in the whole working area of the AGV, and dividing the one or more call processing hosts into one or more call groups, wherein each call processing host is connected with one or more callers. The caller includes a stock call and a feed call.

Fig. 5 is a schematic diagram of the task work area 1, and also a schematic diagram of the operation of the AGV in the 1 shop. The field layout is performed as shown. The 1 shop includes two working paths, which share two traffic control areas TC1, TC2. Under the two paths, 25 working stations are arranged, the marks S1-S25 are arranged, 10 call points are arranged, and the marks H1-H10 are arranged. S1-S14, H1-H5 are located on working path 1, S15-S25, H6-H10 are located on working path 2, S1, S14, S25 are located on working path 1 and working path 2 common path. Calling devices H1-H5, calling signals are sent to a calling processing host 1 for calling information processing, calling devices H6-H10, and calling signals are sent to a calling processing host 2 for calling information processing. The 3 AGVs are located in the standby area and are respectively numbered V1 to V3. S2, S3, S4, S15, S16 are working raw material stations, and S14 is a finished product recovery point.

Fig. 6 shows the connection between the call processing host and the call process in the task allocation area 1, and the caller and the corresponding call processing host all contain standard modules of corresponding address codes. After the caller and the corresponding call processing host are arranged on site, only the address code is required to be changed to form the call processing host in different areas. The call processing host computer completes information interaction with the task allocation host computer through a protocol. The first table is a caller correspondence table set up for the working area, working path, working station and station position.

List one

On AGV path 1, caller H1 is set up at station S7, assuming that S7 the desired material comes from stations S2 and S3. Caller H2 is set up at site S8, assuming that S8 the required material comes from site S3, the remaining correspondence is listed in table one.

And the second table is a working path and standby bit data table corresponding to the AGV. The task allocation host completes the task types of the AGV, which the area of the AGV belongs to, waiting for the machine position, charging the potential and executing the task by the AGV in a setting mode. Because AGV motorcycle type and frock are different, some are only suitable for the pay-off, some are only suitable for receiving the material, some are all applicable, so set up the type selection of execution task. The table X may be populated with different site numbers.

Watch II

And 5, dividing one or more task work areas in the whole work area of the AGVs by using a work path, installing a task allocation host in each task work area, assigning a work AGV number of the area to each task work area, and assigning a work standby position of each AGV.

In the step, one or more task work areas are set up in the whole work area of the AGV according to administrative areas and task type division. A task allocation host is set up within each work area.

After planning the work path hardware facilities, a task library is built in a workshop task allocation host. The task library data is shown in Table III. In Table three, multiple pathway sites may be provided.

Watch III

And a table IV is a manual configuration table of the workshop task allocation logic module 1, wherein the table specifies the corresponding relation between task sources in the task library table and the caller or other requirements. The task allocation logic module can also adopt logic analysis technology to automatically establish the corresponding relation between task demands and task libraries. Multiple demands may point to three task points of the table.

Table four

Task Source pointing

L1

L2

L3

L4

L5

L6

L7

L8

L9

L10

Calling device

H1

H2

H3

H4

H5

H6

H7

H8

H9

H10

The task allocation host can display the information state of the AGV controlled in the area by itself.

And 6, setting one or more district traffic control hosts in the whole working area of the AGV, and setting up traffic control order in the working area of the AGV.

After the district traffic control system is established, traffic control districts TC1 and TC2 are added to the standard district traffic control host. TC1 district control sites S5, S6, S19, S20, TC2 district control sites S13, S24, S25.3 AGVs receive district traffic control in TC1 and TC2 areas.

And 7, setting one or more jurisdictional display devices in the whole working area of the AGV. The jurisdiction display device is connected with the jurisdiction traffic control host computer, reads the working state and the position information of each AGV in the jurisdiction, and displays the working information and the real-time position map of the AGVs in the jurisdiction on the system screen. The information display module is only information display and does not actually control the AGV.

It should be noted that the steps do not necessarily form a sequence. Through the steps, the system setting of the multi-host mechanism of the whole AGV working area is completed, and the multi-area and multi-task AGV linkage control is realized. The AGVs can respectively identify and process the commands issued by different hosts and coordinate the orderly execution of the commands, and meanwhile, the AGVs can respond to the commands or perform data interaction on the designated hosts. The AGV can perform interactive identification, management and control operations such as registration, cancellation, type identification, identity identification, work domain identification, host management, interactive object control, transceiver mode management and the like on different hosts matched with the AGV on the self-contained system. The method aims at modularizing the host functions, improving the on-site deployment speed, standardizing the host configuration, converting nonstandard system engineering into standard system function modules, improving the stability and applicability of the system and realizing the conversion of an AGV system from project to product.

The system control work chain of the invention is as follows: if S7 lacks the material, press the caller H1, the host applies for feeding to the task allocation host of zone 1 through the call processing host. After receiving the instruction, the task allocation host computer analyzes and executes task 1 and sends task instruction to AGVs in S1 standby area, AGVs start to carry out cargo flow after receiving the instruction, AGVs report state information to the task allocation host computer and district traffic control host computers, AGVs load from S1 to S2, S2 load materials, continue to load materials to S3, after completing the loading, approach traffic control area TC2, district traffic control host computers automatically make traffic control, after TC1, automatically go to S7 for unloading, after unloading, approach traffic control area TC2, district traffic control host computers automatically make traffic control again, after TC1, automatically go to S1 for standby. In the AGV operation process, the information display module displays information such as an AGV operation map, an AGV state and the like.

The invention is applicable to the prior art where it is not described.

It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.

Claims

1. An AGV control system of many host computer frameworks, its characterized in that: setting traffic control zone numbers for crossing points and parallel line points of working paths in the whole working area of the AGV, dividing the whole working area of the AGV into a plurality of district traffic control areas according to the numbers, dividing the working path in the whole working area of the AGV into a plurality of task working areas, setting district traffic control hosts in each district traffic control area, and setting task allocation hosts and district display devices in each task working area; the district composed of the traffic control district numbers is a plurality of traffic control districts in administrative areas or a plurality of traffic control districts under network coverage areas;

the jurisdiction traffic control host is used for performing traffic control on the AGVs which enter the jurisdiction traffic control areas controlled by the jurisdiction traffic control host and execute work tasks;

the task allocation host receives the task information and is responsible for allocating tasks to the AGVs controlled by the task allocation host;

the AGV is distributed with tasks by a task distribution host, when the AGV executes the work tasks distributed by the distribution host, the AGV communicates with the district traffic control host entering a district traffic control area and operates under the traffic control of the district traffic control host, and when the AGV leaves the district traffic control area, the AGV communicates with the district traffic control host in a new district traffic control area and operates under the traffic control of the new district traffic control host.

2. The multi-mainframe AGV control system as set forth in claim 1, wherein: the system also comprises a district display device which is connected with the district traffic control host and used for displaying the AGV working information and the AGV real-time position in the district.

3. The multi-mainframe AGV control system according to claim 1 or 2, wherein: the system also includes a call processing host coupled to each caller at the task call point for receiving the caller's call tasks and transmitting to the task allocation host.

4. The multi-mainframe AGV control system as set forth in claim 3, wherein: the call processing host comprises a material calling process, a feeding calling process and other task calling processes; the caller comprises a switch button, a PDA, a sensor, a code scanning gun, an external logic processor and a plurality of callers of digital data interaction equipment.

5. The multi-mainframe AGV control system according to claim 1 or 2, wherein: the task allocation host comprises a task library module and a task triggering condition module, wherein the task library module is used for configuring and storing a plurality of working paths executed by an AGV through a manual input mode and numbering different paths; the task triggering condition module is used for receiving task instructions of the call processing host or the external production management system, and forming task queuing information to be executed through logic analysis of instruction information and setting of call information priority.

6. A method of implementing an AGV control system having a multi-mainframe as defined in any one of claims 1 to 4, comprising the steps of:

step 1, numbering each type of AGVs working in the whole area of the AGV;

step 3, setting traffic control zone numbers for the crossing points and the parallel line points of the working paths in the whole working area of the AGV, and dividing the whole working area of the AGV into a plurality of district traffic control zones according to the numbers;

step 4, installing a district traffic control host in each district traffic control area, wherein the district traffic control host executes district traffic control tasks for the entering AGVs; each district traffic control host contains a number of traffic control zone numbers, and these numbers cannot be reused in different district traffic control hosts; the district management authority of the traffic control district of the number can be changed by arranging the number of the traffic control district to be increased or decreased in the district traffic control host; the system comprises an jurisdiction traffic control host, a management system and a management system, wherein the jurisdiction traffic control host is provided with the highest command for an AGV working in a fixed path in a jurisdiction and an AGV passing through the jurisdiction, all AGVs in the jurisdiction unconditionally obey the command of the jurisdiction traffic control host, and when the AGVs leave a certain jurisdiction, the jurisdiction traffic control host stops managing the AGVs, and the traffic control of the jurisdiction traffic control host is controlled by a new jurisdiction traffic control host;

and 5, dividing the working path in the whole area of the AGV into a plurality of task working areas, installing a task allocation host in each task working area, allocating tasks to the affiliated AGVs by the task allocation host, assigning the number of the working AGVs in the area for each task working area, and assigning the working standby position of each AGV.

7. The method for implementing an AGV control system with multiple host frameworks according to claim 6, wherein: the method also comprises the steps of setting up a call processing host in each task work area and executing the call processing task, and the specific implementation method of the step is as follows: setting one or more call processing hosts in the whole working area of the AGV, and dividing the one or more call processing hosts into one or more call groups, wherein each call processing host is connected with one or more callers; the caller and the corresponding call processing host all contain the standard module of the corresponding address code; the call processing host computer completes information interaction with the task allocation host computer through a protocol.

8. The method for implementing an AGV control system with multiple host frameworks according to claim 6, wherein: the method further comprises the step of installing a district display host in each district traffic control area, wherein the district display host executes a district AGV information display task.